version: 66.07.10.p01
glider: 574
mission: 4
dive: 303
start: 12 2 112 1 30 0
data:
$ID,574
$MISSION,4
$DIVE,303
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,230
$T_MISSION,260
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6808.9722
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,282
$GPS1,021212,012128,-4151.197,-629.026,37,1.0,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-69.8
$GPS2,021212,012905,-4151.134,-629.002,40,1.2,41,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.060,-0.284
$KALMAN_X,-445516.4,-222.1,-236.4,636795.2,-137.3
$KALMAN_Y,50399.0,-292.3,-34.1,61935.1,2659.2
$MHEAD_RNG_PITCHd_Wd,173.3,82155,-24.6,-14.493
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.03,-145.9,0.0,0.0,0,92,0.00,0.00,-65.47,0.000,2,0.000,0.000,65,2123,2235,0,0,0,0,0,0
$GC,95,-1.03,-145.9,3.0,-1.0,11,156,11.60,2.22,-41.67,0.000,4,0.256,0.065,2663,3489,3420,0,0,0,0,0,0
$GC,230,-0.95,-145.9,17.1,-14.8,33,238,0.10,2.22,0.00,0.000,6,0.172,0.044,2695,2090,3420,0,0,0,0,0,0
$GC,311,-0.91,-145.9,28.6,-14.4,46,319,0.10,0.47,0.00,0.000,4,0.209,0.054,2719,1769,3420,0,0,0,0,0,0
$GC,345,-0.91,-145.9,33.2,-13.9,51,350,0.00,0.47,0.00,0.000,6,0.000,0.041,2718,2101,3420,0,0,0,0,0,0
$GC,580,-1.03,-145.9,59.6,-11.0,92,588,0.12,2.22,0.00,0.000,4,0.104,0.050,2660,3495,3421,0,0,0,0,0,0
$GC,638,-0.97,-145.9,67.7,-13.7,102,646,0.10,2.20,0.00,0.000,6,0.168,0.041,2689,2091,3420,0,0,0,0,0,0
$GC,990,-0.99,-145.9,112.0,-13.0,153,994,0.00,2.20,0.00,0.000,4,0.000,0.047,2680,3493,3421,0,0,0,0,0,0
$GC,1028,-0.99,-145.9,117.9,-14.8,155,1032,0.00,2.17,0.00,0.000,6,0.000,0.040,2680,2096,3421,0,0,0,0,0,0
$GC,1353,-0.99,-145.9,163.3,-14.1,176,1357,0.00,2.17,0.00,0.000,4,0.000,0.046,2670,3492,3422,0,0,0,0,0,0
$GC,1419,-0.99,-145.9,173.6,-15.1,180,1424,0.05,2.17,0.00,0.000,6,0.170,0.038,2686,2088,3422,0,0,0,0,0,0
$GC,1747,-1.02,-145.9,218.5,-13.9,201,1751,0.00,2.17,0.00,0.000,4,0.000,0.047,2677,3496,3422,0,0,0,0,0,0
$GC,1798,-1.02,-145.9,226.3,-14.6,204,1802,0.00,2.12,0.00,0.000,6,0.000,0.037,2677,2087,3422,0,0,0,0,0,0
$GC,2128,-1.02,-145.9,270.6,-13.0,223,2132,0.00,2.20,0.00,0.000,4,0.000,0.047,2666,3493,3423,0,0,0,0,0,0
$GC,2177,-1.02,-145.9,277.8,-13.7,225,2182,0.03,2.15,0.00,0.000,6,0.199,0.036,2674,2097,3423,0,0,0,0,0,0
$GC,2501,-1.02,-145.9,317.4,-11.9,241,2505,0.00,2.17,0.00,0.000,4,0.000,0.047,2665,3499,3423,0,0,0,0,0,0
$GC,2568,-1.02,-145.9,326.2,-11.9,244,2572,0.08,2.12,0.00,0.000,6,0.202,0.036,2681,2099,3423,0,0,0,0,0,0
$GC,2896,-1.05,-145.9,363.0,-11.3,260,2900,0.00,2.20,0.00,0.000,4,0.000,0.053,2681,696,3423,0,0,0,0,0,0
$GC,2912,-1.05,-145.9,365.4,-12.1,260,2920,0.00,2.15,0.00,0.000,6,0.000,0.032,2672,2093,3423,0,0,0,0,0,0
$GC,3229,-1.13,-145.9,402.5,-11.8,276,3233,0.08,2.22,0.00,0.000,4,0.135,0.052,2643,701,3423,0,0,0,0,0,0
$GC,3312,-1.02,-145.9,414.3,-14.1,278,3316,0.17,2.10,0.00,0.000,6,0.191,0.032,2677,2101,3423,0,0,0,0,0,0
$GC,3630,-1.10,-145.9,451.8,-11.8,289,3634,0.05,1.48,0.00,0.000,4,0.171,0.049,2656,1177,3423,0,0,0,0,0,0
$GC,3668,-1.07,-145.9,457.0,-13.1,290,3672,0.03,1.42,0.00,0.000,6,0.207,0.035,2658,2107,3424,0,0,0,0,0,0
$GC,4002,-1.07,-145.9,497.6,-12.4,301,4006,0.00,0.88,0.00,0.000,4,0.000,0.043,2655,2694,3423,0,0,0,0,0,0
$GC,4023,-1.07,-145.9,500.7,-13.4,301,4028,0.00,0.93,0.00,0.000,6,0.000,0.041,2655,2095,3423,0,0,0,0,0,0
$GC,4342,-1.07,-145.9,540.6,-12.6,312,4346,0.00,2.17,0.00,0.000,4,0.000,0.052,2655,704,3424,0,0,0,0,0,0
$GC,4437,-1.01,-145.9,553.5,-13.1,314,4443,0.15,2.12,0.00,0.000,6,0.186,0.032,2682,2100,3423,0,0,0,0,0,0
$GC,4750,-1.11,-145.9,586.4,-10.4,325,4755,0.08,0.75,0.00,0.000,4,0.135,0.048,2656,1618,3422,0,0,0,0,0,0
$GC,4784,-1.08,-145.9,590.4,-11.9,326,4788,0.00,0.73,0.00,0.000,6,0.000,0.037,2654,2110,3422,0,0,0,0,0,0
$GC,5125,-1.08,-145.9,633.0,-12.7,337,5129,0.00,2.15,0.00,0.000,4,0.000,0.050,2654,736,3422,0,0,0,0,0,0
$GC,5191,-1.00,-145.9,642.3,-14.6,339,5195,0.15,2.10,0.00,0.000,6,0.171,0.033,2702,2092,3422,0,0,0,0,0,0
$GC,5527,-1.12,-145.9,677.1,-10.5,350,5531,0.15,2.22,0.00,0.000,4,0.095,0.050,2646,701,3421,0,0,0,0,0,0
$GC,5598,-1.05,-145.9,687.2,-14.0,352,5603,0.15,2.15,0.00,0.000,6,0.190,0.034,2671,2106,3421,0,0,0,0,0,0
$GC,5928,-1.10,-145.9,726.2,-11.9,363,5931,0.00,1.08,0.00,0.000,4,0.000,0.046,2671,1415,3420,0,0,0,0,0,0
$GC,5996,-1.10,-145.9,734.7,-12.4,365,6000,0.00,1.05,0.00,0.000,6,0.000,0.038,2668,2099,3420,0,0,0,0,0,0
$GC,6337,-1.13,-145.9,775.6,-12.2,376,6339,0.05,0.00,0.00,0.000,6,0.177,0.000,2648,2100,3419,0,0,0,0,0,0
$GC,6643,-1.13,-145.9,814.1,-12.3,386,6647,0.00,2.20,0.00,0.000,4,0.000,0.051,2648,695,3419,0,0,0,0,0,0
$GC,6709,-1.05,-145.9,823.6,-14.1,388,6714,0.08,2.17,0.00,0.000,6,0.162,0.034,2669,2100,3419,0,0,0,0,0,0
$GC,7044,-1.09,-145.9,862.7,-11.7,399,7048,0.00,1.50,0.00,0.000,4,0.000,0.050,2670,1160,3418,0,0,0,0,0,0
$GC,7105,-1.09,-145.9,870.4,-13.0,400,7111,0.00,1.45,0.00,0.000,6,0.000,0.034,2666,2104,3419,0,0,0,0,0,0
$GC,7419,-1.13,-145.9,906.6,-11.9,411,7422,0.00,1.55,0.00,0.000,4,0.000,0.045,2658,3097,3418,0,0,0,0,0,0
$GC,7457,-1.09,-145.9,911.9,-13.6,412,7461,0.00,1.52,0.00,0.000,6,0.000,0.035,2658,2101,3418,0,0,0,0,0,0
$GC,7792,-1.03,-145.9,961.4,-15.0,423,7797,0.08,2.20,0.00,0.000,4,0.221,0.048,2673,696,3418,0,0,0,0,0,0
$STATE,7805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7806,begin apogee
$GC,7811,-0.21,0.0,964.0,15.3,423,7944,0.93,0.00,128.68,1.480,6,0.163,0.000,2934,1509,2827,0,0,0,0,0,0
$STATE,7945,end apogee,CONTROL_FINISHED_OK
$STATE,7945,begin climb
$GC,7946,1.03,145.9,974.0,0.0,428,8088,1.23,2.40,133.00,1.413,4,0.067,0.042,3339,2888,2231,0,0,0,0,0,0
$GC,8340,0.76,239.9,962.1,8.3,440,8432,0.38,2.22,83.20,1.395,6,0.227,0.045,3264,1514,1850,0,0,0,0,0,0
$GC,8762,0.70,307.8,920.9,10.0,454,8828,0.10,2.30,60.33,1.378,4,0.242,0.042,3244,2890,1572,0,0,0,0,0,0
$GC,8913,0.72,362.2,904.7,10.9,458,8968,0.00,2.28,49.95,1.337,6,0.000,0.047,3253,1495,1350,0,0,0,0,0,0
$GC,9281,0.78,404.1,861.2,11.7,471,9326,0.00,2.20,38.30,1.323,4,0.000,0.041,3253,2814,1179,0,0,0,0,0,0
$GC,9379,0.88,436.2,849.3,12.4,474,9415,0.12,2.15,30.60,1.272,6,0.103,0.047,3298,1490,1048,0,0,0,0,0,0
$GC,9745,0.88,436.2,794.7,14.9,486,9748,0.00,0.85,0.00,0.000,4,0.000,0.038,3298,2053,1041,0,0,0,0,0,0
$GC,9789,0.90,446.9,788.0,13.8,487,9803,0.00,0.90,9.57,1.117,6,0.000,0.052,3301,1498,1005,0,0,0,0,0,0
$GC,10116,0.90,446.9,739.6,15.2,498,10120,0.00,1.08,0.00,0.000,4,0.000,0.037,3302,2199,1003,0,0,0,0,0,0
$GC,10154,0.94,446.9,733.7,15.2,499,10159,0.00,1.12,0.00,0.000,6,0.000,0.052,3307,1499,1003,0,0,0,0,0,0
$GC,10490,0.94,446.9,683.8,14.8,510,10493,0.00,0.55,0.00,0.000,4,0.000,0.042,3307,1881,1002,0,0,0,0,0,0
$GC,10533,0.96,446.9,677.4,14.8,511,10538,0.00,0.62,0.00,0.000,6,0.000,0.057,3309,1497,1002,0,0,0,0,0,0
$GC,10863,0.96,452.2,630.2,14.1,522,10873,0.00,0.62,6.43,0.951,4,0.000,0.058,3312,1071,983,0,0,0,0,0,0
$GC,10911,0.96,464.7,622.9,13.7,523,10928,0.00,0.68,13.25,1.112,6,0.000,0.039,3312,1518,931,0,0,0,0,0,0
$GC,11259,0.98,467.5,572.9,14.3,535,11263,0.00,2.22,0.00,0.000,4,0.000,0.067,3320,171,929,0,0,0,0,0,0
$GC,11313,0.98,467.5,564.1,16.4,536,11319,0.00,2.05,0.00,0.000,6,0.000,0.037,3320,1474,928,0,0,0,0,0,0
$GC,11626,0.98,467.5,515.2,15.6,547,11630,0.00,0.95,0.00,0.000,4,0.000,0.063,3325,897,927,0,0,0,0,0,0
$GC,11669,0.98,467.5,507.8,16.5,548,11674,0.00,0.98,0.00,0.000,6,0.000,0.037,3324,1521,928,0,0,0,0,0,0
$GC,12000,0.98,467.5,455.9,15.4,559,12004,0.00,2.25,0.00,0.000,4,0.000,0.070,3331,164,927,0,0,0,0,0,0
$GC,12062,0.98,467.5,446.2,15.2,561,12066,0.00,2.08,0.00,0.000,6,0.000,0.040,3331,1494,926,0,0,0,0,0,0
$GC,12387,0.98,467.5,396.8,14.9,572,12390,0.00,1.12,0.00,0.000,4,0.000,0.065,3333,807,926,0,0,0,0,0,0
$GC,12432,0.95,467.5,389.9,14.9,574,12437,0.03,1.08,0.00,0.000,6,0.205,0.038,3325,1517,926,0,0,0,0,0,0
$GC,12766,0.95,472.5,342.2,14.2,590,12776,0.00,0.00,7.85,0.868,6,0.000,0.000,3325,1518,900,0,0,0,0,0,0
$GC,13076,0.95,477.6,298.3,14.2,605,13087,0.00,1.17,6.55,0.794,4,0.000,0.062,3330,811,879,0,0,0,0,0,0
$GC,13120,0.92,477.6,291.2,14.9,607,13124,0.05,1.05,0.00,0.000,6,0.184,0.038,3315,1502,879,0,0,0,0,0,0
$GC,13445,0.95,480.2,245.2,14.3,623,13453,0.00,0.00,3.83,0.578,6,0.000,0.000,3315,1502,868,0,0,0,0,0,0
$GC,13775,1.06,495.4,199.6,13.5,644,13793,0.12,0.00,15.60,0.884,6,0.099,0.000,3362,1502,806,0,0,0,0,0,0
$GC,14104,1.02,495.4,143.9,17.0,665,14108,0.08,1.92,0.00,0.000,4,0.231,0.067,3356,312,805,0,0,0,0,0,0
$GC,14155,0.96,495.4,134.5,17.7,668,14159,0.12,1.83,0.00,0.000,6,0.192,0.037,3326,1490,803,0,0,0,0,0,0
$GC,14480,1.07,527.0,88.0,12.4,699,14519,0.10,2.28,28.35,0.853,4,0.112,0.068,3374,169,677,0,0,0,0,0,0
$GC,14555,1.02,527.0,76.1,18.2,712,14561,0.12,2.10,0.00,0.000,6,0.200,0.039,3346,1497,674,0,0,0,0,0,0
$GC,14906,1.02,527.0,21.4,17.1,773,14913,0.00,2.22,0.00,0.000,4,0.000,0.067,3354,173,673,0,0,0,0,0,0
$GC,14968,0.99,527.0,10.0,18.9,783,14976,0.05,2.10,0.00,0.000,6,0.189,0.036,3340,1509,671,0,0,0,0,0,0
$STATE,15007,end climb,SURFACE_DEPTH_REACHED
$STATE,15007,begin surface coast
$FINISH,1.7,1.004906
$STATE,15026,end surface coast,CONTROL_FINISHED_OK
$STATE,15027,begin surface
$SM_CCo,15104,0.00,0.000,0,0,669,529.35
$SM_GC,2.61,9.20,0.00,0.00,0.065,0.000,0.000,94,2109,669,-9.08,0.28,529.35
$IRIDIUM_FIX,-4135.14,-657.11,011212,212137
$TT8_MAMPS,0.026964
$HUMID,48.62
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.1,71.503
$10V_AH,10.0,47.303
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.000,123.550,615.475,0.000,0.000,22.413,47.665,241.958,0.000,0.000,43.063,2028.696,10055.999,621.471,2678.028,176.314,33.369,1723.387,0.000,2298.506,0.000,1.014,0.000
$DEVICE_MAMPS,255.510,69.615,1480.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.143,893.157,517.278,65.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354532
$DATA_FILE_SIZE,50205,792
$CAP_FILE_SIZE,156938,0
$CFSIZE,2097086464,2052259840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,054259,-4151.657,-628.689,42,1.8,42,-22.1